/*
 * Copyright (c) Thorben Linneweber and others
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

using Jitter2.LinearMath;

using SoftFloat;

namespace Jitter2.Dynamics.Constraints
{
	
	/// <summary>
	/// Creates a universal joint utilizing a <see cref="TwistAngle"/>, <see cref="BallSocket"/>, and an optional <see cref="AngularMotor"/>
	/// constraint.
	/// </summary>
	public class UniversalJoint : Joint
	{
	    public RigidBody Body1 { get; private set; }
	    public RigidBody Body2 { get; private set; }
	
	    public TwistAngle TwistAngle { get; }
	    public BallSocket BallSocket { get; }
	    public AngularMotor? Motor { get; }
	
	    public UniversalJoint(World world, RigidBody body1, RigidBody body2, NVector3 center, NVector3 rotateAxis1, NVector3 rotateAxis2, bool hasMotor = false)
	    {
	        Body1 = body1;
	        Body2 = body2;
	
	        rotateAxis1.Normalize();
	        rotateAxis2.Normalize();
	
	        TwistAngle = world.CreateConstraint<TwistAngle>(body1, body2);
	        TwistAngle.Initialize(rotateAxis1, rotateAxis2);
	        Register(TwistAngle);
	
	        BallSocket = world.CreateConstraint<BallSocket>(body1, body2);
	        BallSocket.Initialize(center);
	        Register(TwistAngle);
	
	        if (hasMotor)
	        {
	            Motor = world.CreateConstraint<AngularMotor>(body1, body2);
	            Motor.Initialize(rotateAxis1, rotateAxis2);
	            Register(Motor);
	        }
	    }
	}
}
